The system implemented still includes only the features required to solve the
path planning problem for very simple cases, and does not include the complete
features of the EPB/PDO representation as described in the previous chapter
(most notably, it lacks any reasoning about curves). In addition, the methods
used for checking fit through a gap need to be completed and extended.
Nevertheless, the implementation carried out has demonstrated the major
advantages and disadvantages of this approach, and important enhancements
other than the simple completion of the originally proposed system can be
identified. Three directions that I see as important initial steps for future
work are described in this section.